version: 66.13
glider: 401
mission: 22
dive: 2327
start: 9 5 117 14 26 39
data:
$ID,401
$MISSION,22
$DIVE,2327
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,050917,140626,5957.6387,-17225.6211,5,0.8,39,7.7,0.3,277.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.5
$GPS2,050917,140626,5957.6387,-17225.6211,5,0.8,39,7.7,0.3,277.5,10,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,108.0,16077,-11.8,-10.784,-15.15,6791
$D_GRID,55
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,11,-1.80,-487.5,2385,1940,2363,4092,0.0,0.0,0,29,6.35,0.00,-6.47,0.000,20486,0.024,0.000,1765,1941,3056,3056,4095,0,0,0,0,0,0,26.13,24.35,26.16,10.36,52.63
$GC,36,-1.80,-487.5,1766,1941,3055,4095,-0.0,-0.0,3,42,0.00,1.15,0.00,0.000,260,0.000,0.034,1765,2389,3056,3056,4094,0,0,0,0,0,0,26.36,26.03,26.38,10.51,52.28
$GC,102,-1.80,-487.5,1764,2389,3056,4094,8.2,-16.7,13,108,0.00,1.08,0.00,0.000,1030,0.000,0.028,1765,1963,3057,3057,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.51,52.36
$GC,143,-1.80,-487.5,1765,1963,3059,4094,15.9,-18.6,19,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3059,3059,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.52,52.44
$GC,185,-1.80,-487.5,1764,1963,3060,4095,23.6,-18.0,25,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3061,3061,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.52,52.08
$GC,226,-1.80,-487.5,1764,1963,3062,4095,30.1,-14.8,31,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1962,3061,3061,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.49,52.55
$GC,267,-1.80,-487.5,1764,1963,3062,4095,35.3,-12.4,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.46,51.45
$GC,308,-1.80,-487.5,1765,1963,3064,4094,40.6,-13.0,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3064,3064,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.44,50.35
$GC,349,-1.80,-487.5,1764,1963,3065,4094,46.2,-13.8,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3065,3065,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.42,49.68
$GC,390,-1.80,-487.5,1764,1963,3066,4095,52.2,-14.4,55,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1963,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,48.93
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,421,-0.45,0.0,1765,2146,3066,4094,55.5,-14.5,58,457,4.55,0.00,28.23,1.248,10244,0.054,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.13,25.31,24.16,10.41,48.58
$STATE,458,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,464,1.80,487.5,2185,2146,2484,4094,59.5,0.0,64,505,7.60,0.00,27.98,1.223,11270,0.030,0.000,2900,2147,1915,1915,4095,0,0,0,0,0,0,25.68,25.86,23.80,10.29,47.91
$GC,541,1.80,487.5,2899,2146,1914,4095,53.7,12.2,76,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.16,46.29
$GC,582,1.80,487.5,2899,2146,1912,4094,48.3,12.8,82,589,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1709,1913,1913,4094,0,0,0,0,0,0,25.85,25.46,25.86,10.15,46.49
$GC,690,1.80,487.5,2899,1708,1910,4094,34.2,13.6,99,697,0.00,1.02,0.00,0.000,1030,0.000,0.028,2900,2127,1909,1909,4094,0,0,0,0,0,0,25.85,25.82,25.88,10.13,47.24
$GC,732,1.80,487.5,2899,2127,1908,4094,28.8,12.5,105,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1907,1907,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.13,47.75
$GC,774,1.85,520.3,2900,2127,1907,4094,24.2,10.3,111,781,0.10,0.00,3.28,0.384,10246,0.074,0.000,2920,2127,1876,1876,4094,0,0,0,0,0,0,26.06,25.32,24.24,10.18,48.77
$GC,817,1.85,521.6,2920,2127,1876,4094,19.8,10.8,117,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2127,1876,1876,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,50.23
$GC,858,1.85,521.6,2919,2127,1875,4094,15.1,11.1,123,865,0.00,1.10,0.00,0.000,516,0.000,0.045,2920,1708,1875,1875,4094,0,0,0,0,0,0,26.34,25.90,26.36,10.21,51.61
$GC,942,1.85,521.6,2920,1708,1873,4094,5.9,11.4,136,949,0.00,1.00,0.00,0.000,1030,0.000,0.028,2921,2124,1872,1872,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.22,52.99
$STATE,972,end climb,FINISH_DEPTH_REACHED
$STATE,972,begin subsurface finish
$FINISH1,1.8,1.024079,106
$GC,986,0.16,106.0,2920,2124,1871,4095,1.8,11.3,141,999,5.43,0.00,-4.43,0.000,20486,0.024,0.000,2392,2125,2366,2366,4094,0,0,0,0,0,0,26.15,24.43,26.20,10.23,53.11
$FINISH2,0.1
$STATE,1000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1000,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,125112
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.38
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.80,68.052
$10V_AH,10.33,62.034
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.025,7.425,59.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.628,214.028,139.284,208.889,125.776,0.000,303.023,0.000,217.309,0.000,0.543,0.000
$DEVICE_MAMPS,74.205,45.135,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10799,143
$CAP_FILE_SIZE,25774,0
$CFSIZE,1024409600,905134080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,140626,5957.639,-17225.621,5,0.8,39,7.7,0.3,277.5,10,4.7